基于稀疏A*算法与文化算法的无人机动态航迹规划

doi:10.3969/j.issn.0255-8297.2017.01.014

Abstract

Abstract:

For dynamic path planning of unmanned aerial vehicle (UAV), we combine digital terrain, weather information, and other data to establish a full digital probability map.We then use a two level hierarchical planning method that includes ofine static planning and online real-time dynamic planning to realize dynamic path planning of UAV.The method is based on the sparse A^* algorithm and cultural algorithm (CA).It solves the winding problem of sparse A^* algorithm and improves reliability and real-time performance of tracking.

Key words: path planning, sparse A*algorithm, culture algorithm, probability map

CLC Number:

TP301.6

LI Jun-hua, LIU Qun-fang. Dynamic Path Planning of Unmanned Aerial Vehicle Based on Sparse A*Algorithm and Cultural Algorithm[J]. Journal of Applied Sciences, 2017, 35(1): 128-138.

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Dynamic Path Planning of Unmanned Aerial Vehicle Based on Sparse A*Algorithm and Cultural Algorithm

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